#include "can.h"
#include "led.h"
#include "delay.h"
#include "usart.h"
#include "encoder.h"
#include "CANqueue.h"

static CanRxMsg RxMessage = {0};
 
//CAN初始化
//tsjw:重新同步跳跃时间单元.范围:CAN_SJW_1tq~ CAN_SJW_4tq
//tbs2:时间段2的时间单元.   范围:CAN_BS2_1tq~CAN_BS2_8tq;
//tbs1:时间段1的时间单元.   范围:CAN_BS1_1tq ~CAN_BS1_16tq
//brp :波特率分频器.范围:1~1024; tq=(brp)*tpclk1
//波特率=Fpclk1/((tbs1+1+tbs2+1+1)*brp);
//mode:CAN_Mode_Normal,普通模式;CAN_Mode_LoopBack,回环模式;
//Fpclk1的时钟在初始化的时候设置为42M,如果设置CAN1_Mode_Init(CAN_SJW_1tq,CAN_BS2_6tq,CAN_BS1_7tq,6,CAN_Mode_LoopBack);
//则波特率为:42M/((6+7+1)*6)=500Kbps
//返回值:0,初始化OK;
//    其他,初始化失败; 

 /********************************************************/   
u8 CAN1_Mode_Init(u8 tsjw,u8 tbs2,u8 tbs1,u16 brp,u8 mode)
{

    GPIO_InitTypeDef GPIO_InitStructure; 
    CAN_InitTypeDef        CAN_InitStructure;
    CAN_FilterInitTypeDef  CAN_FilterInitStructure;
#if CAN1_RX0_INT_ENABLE 
    NVIC_InitTypeDef  NVIC_InitStructure;
#endif
    //使能相关时钟
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);//使能PORTA时钟
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_CAN1, ENABLE);//使能CAN1时钟
    
    //初始化GPIO
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_11| GPIO_Pin_12;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF;//复用功能
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉
    GPIO_Init(GPIOA, &GPIO_InitStructure);//初始化PA11,PA12
    
      //引脚复用映射配置
    GPIO_PinAFConfig(GPIOA,GPIO_PinSource11,GPIO_AF_CAN1); //GPIOA11复用为CAN1
    GPIO_PinAFConfig(GPIOA,GPIO_PinSource12,GPIO_AF_CAN1); //GPIOA12复用为CAN1
      
      //CAN单元设置
    CAN_InitStructure.CAN_TTCM=DISABLE;     //非时间触发通信模式   
    CAN_InitStructure.CAN_ABOM=DISABLE;     //软件自动离线管理      
    CAN_InitStructure.CAN_AWUM=DISABLE;     //睡眠模式通过软件唤醒(清除CAN->MCR的SLEEP位)
    CAN_InitStructure.CAN_NART=ENABLE;      //禁止报文自动传送 
    CAN_InitStructure.CAN_RFLM=DISABLE;     //报文不锁定,新的覆盖旧的  
    CAN_InitStructure.CAN_TXFP=DISABLE;     //优先级由报文标识符决定 
    CAN_InitStructure.CAN_Mode= mode;       //模式设置 
    CAN_InitStructure.CAN_SJW=tsjw;         //重新同步跳跃宽度(Tsjw)为tsjw+1个时间单位 CAN_SJW_1tq~CAN_SJW_4tq
    CAN_InitStructure.CAN_BS1=tbs1;         //Tbs1范围CAN_BS1_1tq ~CAN_BS1_16tq
    CAN_InitStructure.CAN_BS2=tbs2;         //Tbs2范围CAN_BS2_1tq ~    CAN_BS2_8tq
    CAN_InitStructure.CAN_Prescaler=brp;    //分频系数(Fdiv)为brp+1    
    CAN_Init(CAN1, &CAN_InitStructure);     // 初始化CAN1 

    //配置过滤器
    CAN_FilterInitStructure.CAN_FilterNumber=0;      //过滤器0
    CAN_FilterInitStructure.CAN_FilterMode=CAN_FilterMode_IdMask; 
    CAN_FilterInitStructure.CAN_FilterScale=CAN_FilterScale_32bit; //32位 
    CAN_FilterInitStructure.CAN_FilterIdHigh=0x0000;////32位ID
    CAN_FilterInitStructure.CAN_FilterIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterMaskIdHigh=0x0000;//32位MASK
    CAN_FilterInitStructure.CAN_FilterMaskIdLow=0x0000;
    CAN_FilterInitStructure.CAN_FilterFIFOAssignment=CAN_Filter_FIFO0;//过滤器0关联到FIFO0
    CAN_FilterInitStructure.CAN_FilterActivation=ENABLE; //激活过滤器0
    CAN_FilterInit(&CAN_FilterInitStructure);//滤波器初始化
        
#if CAN1_RX0_INT_ENABLE    
    CAN_ITConfig(CAN1,CAN_IT_FMP0,ENABLE);//FIFO0消息挂号中断允许.
    NVIC_InitStructure.NVIC_IRQChannel = CAN1_RX0_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 1;     // 主优先级为1
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;            // 次优先级为0
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);
#endif
    return 0;
}   
 
#if CAN1_RX0_INT_ENABLE    //使能RX0中断
//中断服务函数                
void CAN1_RX0_IRQHandler(void)
{
    CAN_Receive(CAN1, 0, &RxMessage);
    if(CAN1_queue.push != 0)
    {
        CAN1_queue.push(&RxMessage);
    }
}
#endif


//can发送一组数据(固定格式:ID为0X12,标准帧,数据帧)    
//len:数据长度(最大为8)                     
//msg:数据指针,最大为8个字节.
//返回值:0,成功;
//         其他,失败;
u8 CAN1_Send_Msg(uint16_t can_id, u8* msg, u8 len)
{    
    u8 mbox;
    u16 i=0;
    CanTxMsg TxMessage;
    TxMessage.StdId = can_id;     //标准标识符为0
    TxMessage.ExtId = 0x00;       //设置扩展标示符（29位）
    TxMessage.IDE = 0;            //使用扩展标识符
    TxMessage.RTR = 0;            //消息类型为数据帧，一帧8位
    TxMessage.DLC=len;            //发送两帧信息
    for(i=0;i<len;i++)
    TxMessage.Data[i]=msg[i];     //第一帧信息
    mbox= CAN_Transmit(CAN1, &TxMessage);   
    i=0;
    while((CAN_TransmitStatus(CAN1, mbox)==CAN_TxStatus_Failed)&&(i<0XFFF))i++;    //等待发送结束
    if(i>=0XFFF)return 1;
    return 0;
}
//can口接收数据查询
//buf:数据缓存区;     
//返回值:0,无数据被收到;
//         其他,接收的数据长度;
u8 CAN1_Receive_Msg(u8 *buf)
{                      
     u32 i;
    CanRxMsg RxMessage;
    if( CAN_MessagePending(CAN1,CAN_FIFO0)==0)return 0;        //没有接收到数据,直接退出 
    CAN_Receive(CAN1, CAN_FIFO0, &RxMessage);//读取数据    
    for(i=0;i<RxMessage.DLC;i++)
    buf[i]=RxMessage.Data[i];  
    return RxMessage.DLC;    
}
